.TH "Zebulon::Gamblore::VelocityStateSensor" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
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.SH NAME
Zebulon::Gamblore::VelocityStateSensor \- 
.SH SYNOPSIS
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.PP
.SS "Classes"

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.RI "class \fBEncoder\fP"
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.SS "Public Member Functions"

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.RI "int \fBSetController\fP (\fBRoboteq::AX3500\fP *motors)"
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.RI "double \fBGetVelocityX\fP () const "
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.RI "double \fBGetYawRate\fP () const "
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.RI "Jaus::Time \fBGetTimeStamp\fP () const "
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.RI "void \fBPrintVelocityState\fP () const "
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.RI "void \fBPrintTravelSpeed\fP () const "
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.RI "virtual int \fBSetupService\fP ()"
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.SS "Static Public Member Functions"

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.RI "static void \fBProcessEncoderMessageCallback\fP (const \fBRoboteq::AX3500::Message\fP *message, void *arg)"
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.SS "Static Protected Member Functions"

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.RI "static bool \fBGetEncoderValue\fP (const \fBRoboteq::AX3500::Message\fP *message, int &wheel, int &encoderValue)"
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.RI "static void \fBVelocityThread\fP (void *args)"
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.SS "Protected Attributes"

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.RI "CxUtils::Mutex \fBmSensorMutex\fP"
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.RI "\fIThread protection of interfaces. \fP"
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.RI "CxUtils::Thread \fBmVelocityThread\fP"
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.RI "\fIThread which continuously sends drive commands to \fBAX3500\fP. \fP"
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.RI "\fBRoboteq::AX3500\fP * \fBmpMotors\fP"
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.RI "\fIPointer to motor controller interface. \fP"
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.RI "\fBEncoder\fP \fBmLeftWheel\fP"
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.RI "\fI\fBEncoder\fP data for left wheel. \fP"
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.RI "\fBEncoder\fP \fBmRightWheel\fP"
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.RI "\fI\fBEncoder\fP data for right wheel. \fP"
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.RI "double \fBmWheelCircumference\fP"
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.RI "\fIWheel circumference in meters. \fP"
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.RI "double \fBmWheelBase\fP"
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.RI "\fIDistance beteween left and right wheel in meters. \fP"
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.SH "Author"
.PP 
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